More than once, I have come across a porcupine in the woods sleeping on the ground during the daytime instead of in a tree. They keep their nose tucked down and their long hairs provide some degree of camouflage.
You can tell they are sleeping because once they do wake up, they will scurry off very quickly.
Why would they sleep on the ground, where they are far more vulnerable to things that want to eat them, instead of in a tree?